Go to the documentation of this file.00001
00002
00003 import roslib
00004 roslib.load_manifest( 'rospy' )
00005 roslib.load_manifest( 'std_msgs' )
00006
00007 import rospy
00008
00009 from std_msgs.msg import Float64, Int8
00010
00011 import numpy as np
00012
00013 rospy.init_node( 'move_joint_node' )
00014 topic = 'r_shoulder_pan_controller/command'
00015
00016 topic = 'r_forearm_roll_controller/command'
00017
00018 pub = rospy.Publisher( topic, Float64 )
00019
00020 update_pub = rospy.Publisher( '/joint_state_viz/update', Int8 )
00021
00022 soft_lower_limit = -np.pi
00023 soft_upper_limit = np.pi
00024
00025
00026
00027
00028 counter = 0
00029
00030 while not rospy.is_shutdown():
00031
00032 counter = counter + 1
00033 print( '----- %d -----'%counter )
00034
00035 pos = np.random.rand() * ( soft_upper_limit - soft_lower_limit ) + soft_lower_limit
00036 rospy.loginfo( 'move to pos %6.4f'%pos )
00037
00038 update_pub.publish( 0 )
00039 rospy.sleep( 0.5 )
00040 pub.publish( pos )
00041 rospy.sleep( 1 )
00042 update_pub.publish( 1 )
00043
00044 if counter == 500:
00045 break